Driving and steering device for a vehicle, and a vehicle equipped with at least one driving and steering device of this type

Abstract

The present invention relates to a drive and steering device (1) for a vehicle (100), comprising: two hollow shaft motors (2 and 3), each having a bevel ring gear (4, 5) at least indirectly rotationally fixed to a rotor (6, 7) of the hollow shaft motor, the two bevel ring gears being arranged coaxially with one another; two bevel pinions (8 and 9), rotationally fixed to one another via a shaft (10) arranged therebetween, the two bevel pinions (8 and 9) meshing with both a first bevel ring gear and a second bevel ring gear; and a wheel (12) of the vehicle (100), arranged rotationally fixed on a wheel hub (12). - at least one support arm (13, 14) on which a wheel hub (12) is rotatably arranged, the support arm (13, 14) being arranged on the shaft (10) via at least one rotary joint (15) and radially supported on the second hollow shaft motor (2, 3) via bearing points arranged on the inner circumference (16) of the second hollow shaft motor (2, 3); and - a mechanical power transmission device (18) drivingly arranged between the shaft (10) and the wheel hub (12) for driving the wheel hub (12) in rotation about its longitudinal axis (L1). The bevel ring gears (4 and 5) can be rotationally driven by an associated hollow shaft motor such that there is a rotational drive of the wheel hub (12) about its longitudinal axis (L1) and / or a pivoting of the wheel hub (12) about a longitudinal axis (L2) of the drive and steering device in order to adjust the steering angle of the wheel (11) according to the relative rotational direction and relative rotational speed of the bevel ring gears (4 and 5) with respect to each other. The present invention also relates to a vehicle (100).

Description

[Technical Field]

[0001] The present invention relates to a drive and steering device for a vehicle, and to a vehicle having at least one drive and steering device of this type. [Background technology]

[0002] So-called AMRs (autonomous mobile robots) with all-wheel drive and all-wheel steering typically have four drive modules at each corner of the AMR, with each drive module having two independent motors, one for steering each wheel and one for driving each wheel.

[0003] DE69109453T2 discloses a drive and steering device operably mounted between a frame and steering and drive wheels for driving the wheels about drive wheel axes and steering the wheels about steering axes relative to the frame. The device includes a steering motor having a stator connected to the frame and a rotor, the rotor operably connected to the wheels for steering the wheels about the steering axes. Additionally, drive means are provided, including a traction motor operably connected to the wheels for driving the wheels about the wheel axes. The drive means extends through the stator and is connected to the rotor of the steering motor for drive purposes. Summary of the Invention [Means for solving the problem]

[0004] The object of the present invention is to propose a drive and steering device that is space-saving, requires relatively few components and is easy to assemble. This object is achieved by a drive and steering device having the features of claim 1 and a vehicle having the features of claim 9. Preferred or advantageous embodiments of the invention result from the dependent claims, the following description and the accompanying drawings.

[0005] According to a first aspect of the invention, a drive and steering system for a vehicle comprises: a first hollow shaft motor, the first hollow shaft motor having a first bevel ring gear at least indirectly rotationally fixed to a first rotor of the first hollow shaft motor; a second hollow shaft motor, the second hollow shaft motor having a second bevel ring gear at least indirectly rotationally fixed to a second rotor of the second hollow shaft motor, the two bevel ring gears being arranged coaxially with each other; - a first bevel pinion and a second bevel pinion, the bevel pinions being rotationally fixed to one another via a shaft disposed therebetween, each of the bevel pinions meshing with both the first bevel ring gear and the second bevel ring gear; a wheel of the vehicle, the wheel being arranged so as to be rotationally fixed on the wheel hub; - at least one support arm on which the wheel hub is rotatably arranged, the support arm being arranged on the shaft via at least one rotary joint and being radially supported on the second hollow shaft motor via bearing points arranged on the inner circumference of the second hollow shaft motor; a mechanical power transmission device drivingly arranged between the shaft and the wheel hub for driving the wheel hub in rotation about its longitudinal axis; The bevel ring gear can be rotationally driven by an associated hollow shaft motor such that there is rotational driving of the wheel hub about its longitudinal axis and / or pivoting of the wheel hub about the longitudinal axis of the drive and steering device to adjust the steering angle of the wheel according to the relative rotational direction and relative rotational speed of the bevel ring gears with respect to each other.

[0006] The drive and steering device proposed herein features a compact, coaxial configuration that is easy to assemble. The coaxial arrangement of the motors also allows for high ground clearance. In addition, the drive and steering device requires fewer components, which means that the drive and steering device can be constructed to be particularly simple and lightweight compared to previously known solutions. Furthermore, a continuous 360-degree steering module can be implemented, which allows the wheels to pivot by at least 360°, making the drive and steering device particularly suitable for use in AMRs.

[0007] Since the bevel ring gears are arranged coaxially with each other, the hollow shaft motors are also arranged coaxially with each other. Consequently, the stators and rotors of the two hollow shaft motors are arranged coaxially with each other within the motor housing. Each hollow shaft motor includes a stator fixed to the housing and a rotor arranged to rotate relative to the stator, the rotor being configured as a hollow shaft rotor with a hollow space. Each rotor is preferably directly and rotationally fixed to the associated bevel ring gear. However, other components, such as spacers, may be arranged between the rotor and the associated bevel ring gear.

[0008] The hollow shaft motors are configured to communicate with a controller that can control each hollow shaft motor so that a rotor having a bevel ring gear at least indirectly rotationally fixed thereto rotates at a variably adjustable rotational speed in a desired rotational direction. Thus, the hollow shaft motors are in communication with at least one controller.

[0009] The two bevel ring gears are configured as rings with end or spur teeth, the teeth being arranged opposite each other and spatially accommodating the two bevel pinions between them.

[0010] Each bevel pinion has teeth complementary to those of the bevel ring gear. Depending on the direction of rotation of the rotor or bevel ring gear, the bevel pinions can be driven by a hollow shaft motor or a bevel ring gear so that they rotate together at the same speed about the longitudinal axis of the shaft. The shaft is the connecting element for the two bevel pinions. Depending on the selected direction and speed of rotation of the rotor or bevel ring gear, the rotational drive of the wheels or the pivoting of the wheels to adjust the steering angle is achieved via the shaft and a mechanical power transmission device or via the shaft and at least one support arm.

[0011] The articulation of the at least one support arm on the shaft by a swivel joint ensures that the at least one support arm cannot rotate about the longitudinal axis of the shaft, and thus the shaft is rotatably mounted to the at least one support arm.

[0012] Additionally, bearing points between the at least one support arm and the second hollow shaft motor are provided to prevent rotation of the at least one support arm about the longitudinal axis of the drive and steering device, whereby at least a second rotor of the second hollow shaft motor is rotatably mounted relative to the at least one support arm. The at least one support arm is supported on the shaft at least axially and at least radially by bearing points, preferably configured as bearing bushes or bearing elements.

[0013] At least one support arm is part of a fork device that indirectly supports a wheel on the hollow shaft motor. The fork device may have one support arm, two support arms, or three or more support arms in which the wheel is rotatably housed. Preferably, the wheel hub is rotatably disposed on the two support arms, and the wheel is disposed longitudinally of the wheel hub between the two support arms. This allows for better force introduction and transmission.

[0014] The wheel hub is rotationally fixed to the wheel. The wheel hub and wheel may be formed in one piece. However, if the wheel hub is subject to higher or different stresses than the wheel, a two-part construction may be advantageous, as different materials may be used.

[0015] Preferably, the mechanical power transmission device is a traction drive or gear transmission. In particular, the power transmission device is a belt drive comprising a first belt pulley arranged so as to rotate fixedly on the shaft and a second belt pulley arranged so as to rotate fixedly on the wheel hub, the belt pulleys being drivably connected via a traction means, in particular a toothed belt. A power transmission device configured as a gear transmission has at least two gears that mesh with each other, the first gear being arranged so as to rotate fixedly on the shaft and the second gear being arranged so as to rotate fixedly on the wheel hub. Further gears arranged between the first and second gears on the respective intermediate shafts are also conceivable.

[0016] Preferably, the first stator of the first hollow shaft motor is configured to be fastened to the vehicle chassis via a first chassis mounting plate. Alternatively or additionally, the second stator of the second hollow shaft motor is configured to be fixed to the vehicle chassis via a second chassis mounting plate. By appropriately positioning the hollow shaft motors on the chassis, the ground clearance can be further increased. The chassis mounting plate can be part of the chassis or part of the drive and steering device. Depending on the vehicle configuration, the chassis mounting plate can be integrally connected to the corresponding stator.

[0017] Preferably, the drive and steering arrangement comprises a controller configured to control the hollow shaft motor such that the bevel ring gears are rotated in opposite rotational directions at the same rotational speed, whereby the wheel hub rotates about its longitudinal axis in either a first rotational direction or an opposite second rotational direction.In a method for controlling a drive and steering arrangement according to a further aspect of the invention, when the bevel ring gears are rotated in opposite rotational directions at the same rotational speed by the hollow shaft motor, the wheel hub rotates about its longitudinal axis in either a first rotational direction or an opposite second rotational direction.

[0018] Alternatively or additionally, the control device is configured to control the hollow shaft motor such that the bevel ring gear rotates in the same rotational direction and at the same rotational speed, thereby causing the wheel hub to pivot in a third rotational direction or an opposite fourth rotational direction about the longitudinal axis of the drive and steering device. In a method for controlling a drive and steering device according to a further aspect of the invention, when the bevel ring gear is rotated in the same rotational direction and at the same rotational speed by the hollow shaft motor, the wheel hub pivots in a third rotational direction or an opposite fourth rotational direction about the longitudinal axis of the drive and steering device.

[0019] Further, alternatively or additionally, the control device is configured to control the hollow shaft motor such that the bevel ring gear is rotated by the hollow shaft motor in opposite rotational directions at different rotational speeds, whereby the wheel hub rotates about its longitudinal axis in a first rotational direction or a second rotational direction and pivots about the longitudinal axis of the drive and steering device in a third rotational direction or a fourth rotational direction. In a method for controlling a drive and steering device according to a further aspect of the invention, the wheel hub rotates about its longitudinal axis in a first rotational direction or a second rotational direction when the bevel ring gear is rotated by the hollow shaft motor in opposite rotational directions at different rotational speeds, whereby the wheel hub rotates about its longitudinal axis in a first rotational direction or a second rotational direction and pivots about the longitudinal axis of the drive and steering device in a third rotational direction or a fourth rotational direction when the bevel ring gear is rotated by the hollow shaft motor in opposite rotational directions at different rotational speeds.

[0020] The steering of the wheels is based on the difference in rotational speed, i.e., turning speed, of the bevel ring gears. The drive of the wheels is linearly dependent on the rotational speed of the rotor or bevel ring gear.

[0021] An active or driving connection is understood to be either a direct or at least indirect connection between two elements. Two interconnected elements can therefore be connected directly or via other elements. As already explained above, several gears or belt pulleys, and if necessary traction means, etc. can be arranged between the shaft and the wheel hub to rotate the wheel hub about its longitudinal axis in order to transmit the driving force, i.e. the torque and the rotational speed, from the shaft to the wheel hub or vice versa.

[0022] A vehicle according to a second aspect of the present invention comprises at least one drive and steering device according to the first aspect of the present invention, the at least one drive and steering device being arranged and supported on a chassis of the vehicle. Preferably, a plurality of drive and steering devices according to the first aspect of the present invention are connected to the chassis to provide a vehicle that can be used for different applications. The vehicle can in particular be configured as a so-called AMR (Autonomous Mobile Robot), on which, for example, products or goods can be transported. An AMR is an intelligent vehicle that can move autonomously and without external support in its environment.

[0023] The vehicle comprises a plurality of drive and steering devices and preferably a single control device, the control device being configured to jointly or separately control the drive and steering devices. In particular, the control device is configured to control at least one, preferably both, hollow shaft motors of each drive and steering device. Each drive and steering device can be controlled separately by the control device. The control device can also control several or all of the drive and steering devices together.

[0024] For this purpose, the control device may also communicate with sensors that record information about the environment, operating conditions, vehicle position, etc. and provide it to the control device for evaluation, so that the vehicle, in particular the respective drive and steering devices, can be controlled accordingly depending on this information.

[0025] The above descriptions, examples and definitions of the technical effects, advantages and embodiments of the inventive drive and steering device according to the first aspect of the invention also apply, mutatis mutandis, to the inventive vehicle according to the second aspect of the invention, and vice versa.

[0026] Further ways to improve the present invention will be further described below in conjunction with the description of preferred embodiments of the present invention using the drawings, in which identical or similar components are designated with the same reference numerals. [Brief explanation of the drawings]

[0027] [Figure 1] 1 shows a simplified schematic diagram of a vehicle according to the invention having four drive and steering devices according to the invention; [Figure 2] 2 shows a first schematic diagram of an exemplary drive and steering device according to FIG. 1; [Figure 3] 1 and 2 show a second schematic view of the drive and steering device according to the invention. [Figure 4] 1 to 3 show plan views of the drive and steering device according to the invention. [Figure 5] 1 to 4 show a first perspective view of a drive and steering device according to the invention, illustrating the control of the drive and steering device during operation in a first drive situation. [Figure 6] 1 to 5 show a second perspective view of the drive and steering device according to the invention, illustrating the control of the drive and steering device during operation in a second drive situation. DETAILED DESCRIPTION OF THE INVENTION

[0028] FIG. 1 shows, in a highly simplified manner, a vehicle 100 according to the present invention. The vehicle 100 comprises a chassis 101 having a platform 103, on which four drive and steering devices 1 according to the present invention are arranged and supported, only two of which are shown here. A drive and steering device 1 is located at each corner of the chassis 101. The vehicle 100 is an AMR, and the drive and steering devices 1 are configured to, among other things, enable holonomic motion of the vehicle 100. The vehicle 100 also comprises a control device 102 configured to communicate with and independently control the drive and steering devices 1 so that the vehicle 100 can be driven in forward and reverse directions and steered. Such a vehicle 100 can be used, for example, to transport an item 105 that can be positioned on the platform 103.

[0029] 2 to 6 show one of the drive and steering devices 1 of the vehicle 100 as an example, and the other three drive and steering devices 1 are identically configured. Therefore, all descriptions below regarding the drive and steering device 1 apply equally to the other three drive and steering devices 1.

[0030] 2 to 6, the drive and steering device 1 comprises a first hollow shaft motor 2 having a first bevel ring gear 4 indirectly rotationally fixed to a first rotor 6 of the first hollow shaft motor 2, and a first stator 19 fastened to and supported by a chassis 101 of a vehicle 100 via a first chassis mounting plate 21. The drive and steering device 1 further comprises a second hollow shaft motor 3 having a second bevel ring gear 5 rotationally fixed to a second rotor 7 of the second hollow shaft motor 3, and a second stator 20 fastened to and supported by the chassis 101 of the vehicle 100 via a second chassis mounting plate 22. The connection of the chassis mounting plates 21, 22 to the chassis 101 is shown schematically in FIGS.

[0031] The two bevel ring gears 4, 5 are arranged coaxially with respect to each other and to the longitudinal axes of the stators 19, 20 and rotors 6, 7, and a first bevel pinion 8 and a second bevel pinion 9 are spatially arranged between the bevel ring gears 4, 5 and are rotationally fixedly connected to each other via an interposed shaft 10. Each bevel pinion 8, 9 meshes with both the first bevel ring gear 4 and the second bevel ring gear 5 on diametrically opposite sides of the first bevel ring gear 4 and the second bevel ring gear 5.

[0032] 3 and 4, two support arms 13, 14 are arranged on the shaft 10 via an associated revolute joint 15, which allows the shaft 10 to rotate relative to the support arms 13, 14. The support arms 13, 14 rotatably receive a wheel hub 12 at one wheel-side end, and the wheel 11 is rotationally fixed on the wheel hub 12, so that rotation of the wheel hub 12 about its longitudinal axis L1 causes rotation of the wheel 11 about the longitudinal axis L1. The wheel 11 is arranged longitudinally of the wheel hub 12 along the longitudinal axis L1 between the two support arms 13, 14.

[0033] According to Figure 4, the support arms 13, 14 are also radially supported on the second hollow shaft motor 3 via bearing points 17 arranged on the inner circumference 16 of the second hollow shaft motor 3. The bearing points 17 are configured as annular bearing bushes and prevent the support arms 13, 14 from rotating about the longitudinal axis L2 of the drive and steering device 1. The rotors 6, 7 are thereby arranged to rotate relative to the support arms 13, 14.

[0034] A mechanical power transmission device 18 configured as a belt drive is operatively arranged between the shaft 10 and the wheel hub 12 to drive the wheel 11 in rotation, and transmits the driving force introduced into the shaft 10, causing it to rotate about its longitudinal axis, to the wheel hub 12 via a belt 23. The pulleys on the shaft 10 or on the wheel hub 12 that carry the belt 23 are not shown in detail here for the sake of clarity.

[0035] 1 is communicatively connected to the hollow shaft motors 2, 3 such that, by appropriate energization of the stators 19, 20, the rotors 6, 7, and thereby the bevel ring gears 4, 5, can be driven in rotational motion at rotational speeds about the longitudinal axis L2 of the drive and steering device 1. The bevel ring gears 4, 5 can be rotationally driven in the same and opposite rotational directions. Furthermore, the bevel ring gears 4, 5 can be driven at the same rotational speed or at different rotational speeds.

[0036] The bevel ring gears 4, 5 can be driven in rotation such that the wheel hub 12 is driven in rotation about its longitudinal axis L1 and / or pivoted about the longitudinal axis L2 of the driving and steering device 1 in order to adjust the steering angle of the wheel 11, depending in particular on the direction and speed of rotation of the bevel ring gears 4, 5 relative to one another. The adjustment of the steering angle of the wheel 11, i.e. the rotation of the wheel 11 about the second longitudinal axis L2, is based on the difference between the rotational speeds of the bevel ring gears 4, 5. The rotational drive of the wheel 11 about the first longitudinal axis L1 depends linearly on the rotational speed of the rotors 6, 7 or the bevel ring gears 4, 5, respectively.

[0037] 5 shows a first case, whereby when the bevel ring gears 4, 5 are rotated by the hollow shaft motors 2, 3 in opposite directions and at the same rotational speed, the wheel hub 12 rotates about its longitudinal axis L1 in a first rotational direction R1 or an opposite second rotational direction R2. In this case, the first bevel ring gear 4 rotates clockwise at a first speed according to the first arrow 24, and the second bevel ring gear 5 rotates counterclockwise at a second speed corresponding to the first speed according to the second arrow 25. This causes the bevel ring gears 4, 5 to rotate at the same speed in opposite directions. As a result, the bevel pinions 8, 9 rotate together at the same speed about the longitudinal axis of the shaft 10, which in turn rotates the shaft 10 about its longitudinal axis, thereby transmitting a driving force to the wheel 11 via the force transmission device 18 operably connected to the shaft 10. This causes the wheels 11 to rotate in a first rotational direction R1. The mechanical power transmission device 18 thereby serves to transmit driving force from the shaft 10 to the wheels 11. In the case shown in FIG. 5 , the wheels 11 are exclusively rotationally driven by the driving and steering device 1, and thereby the vehicle 100, so that it moves along the third arrow 26, for example, in the forward direction of the vehicle 100. On the other hand, if the first bevel ring gear 4 is rotated counterclockwise at a first speed and the second bevel ring gear 5 is rotated clockwise at the same second speed, the third arrow 26 will point in the opposite direction, for example, corresponding to the reverse direction of the vehicle 100, opposite the forward direction. This causes the wheels 11 to rotate in a second rotational direction R2 opposite to the first rotational direction R1. In this sense, the control device 102 is configured to control the hollow shaft motors 2, 3 so that the bevel ring gears 4, 5 are rotated in opposite rotational directions at the same rotational speed, thereby causing the wheel hub 12 to rotate about its longitudinal axis L1 in either a first rotational direction R1 or an opposite second rotational direction R2.

[0038] Figure 6 shows a second case, according to which, when the bevel ring gears 4, 5 are rotated by the hollow shaft motors 2, 3 in the same rotational direction and at the same rotational speed, the wheel hub 12 is pivoted in a third rotational direction R3 or an opposite fourth rotational direction R4 about the longitudinal axis L2 of the drive and steering device 1. Due to the relative rotational movement of the bevel ring gears 4, 5 according to Figure 6, the shaft 10 together with the bevel pinions 8, 9 rotates at its center point about the longitudinal axis L2 of the drive and steering device 1, whereby the support arms 13, 14 arranged on the shaft 10 also rotate about the longitudinal axis L2, thereby pivoting the wheel hub 12 and the wheel 11 about the longitudinal axis L2 so as to adjust the steering angle of the wheel 11. In this case, the first bevel ring gear 4 rotates clockwise according to the first arrow 24 at a first speed, and the second bevel ring gear 5 rotates clockwise according to the second arrow 25 at a second speed corresponding to the first speed. Thus, the bevel ring gears 4 and 5 rotate in the same direction and at the same speed. In the case shown in FIG. 6 , the wheel 11 is pivoted exclusively about the longitudinal axis L2 along the third arrow 26 to adjust the steering angle, e.g., to initiate a right turn. This causes the wheel 11, wheel hub 12, support arms 13 and 14, and shaft 10 to rotate in a third rotational direction R2 about the longitudinal axis L2. On the other hand, if both bevel ring gears 4 and 5 are rotated together counterclockwise at the same speed, the third arrow 26 is oriented in the opposite direction, e.g., to initiate a left turn of the vehicle 100. In this sense, the control device 102 is configured to control the hollow shaft motors 2, 3 so that the bevel ring gears 4, 5 are rotated in the same rotational direction at the same rotational speed, whereby the wheel hub 12 pivots about the longitudinal axis L2 of the drive and steering device 1 in a fourth rotational direction R4 opposite to the third rotational direction R3.

[0039] 5 and 6 can also be combined with one another to drive the respective wheels 11 during operation of the vehicle 100 and simultaneously initiate and perform cornering of the vehicle 100. In this sense, the control device 102 is configured to control the hollow shaft motors 2, 3 such that the bevel ring gears 4, 5 are rotated by the hollow shaft motors 2, 3 in opposite rotational directions and at different rotational speeds, whereby the wheel hub 12 rotates about its longitudinal axis L1 in a first rotational direction R1 or a second rotational direction R2 and pivots about the longitudinal axis L2 of the drive and steering device 1 in a third rotational direction R3 or a fourth rotational direction R4.

[0040] For example, when the first bevel ring gear 4 is driven clockwise at a first speed and the second bevel ring gear 5 is driven counterclockwise at a second speed greater than the first speed, on the one hand, forward running of the vehicle 100 can be achieved in the same manner as described in Figure 5, and on the other hand, at the same time, the wheel 11 having the wheel hub 12, the shaft 10, and the support arms 13, 14 arranged thereon rotates counterclockwise around the longitudinal axis L2 of the driving and steering device 1 to set the steering angle of the wheel 11 in the first direction in the same manner as described in Figure 6.

[0041] In contrast, when the first bevel ring gear 4 is driven clockwise at a first speed and the second bevel ring gear 5 is driven counterclockwise at a second speed lower than the first speed, forward travel of the vehicle 100 (see Figure 5) can also be achieved, and at the same time, the wheel 11 having the wheel hub 12, the shaft 10, and the support arms 13, 14 arranged thereon rotates clockwise about the longitudinal axis L2 of the driving and steering device 1 to set the steering angle of the wheel 11 in a second direction opposite to the first direction (see Figure 6).

[0042] In a further driving state in which the vehicle 100 is driven backward, when the first bevel ring gear 4 is driven counterclockwise at a first speed and the second bevel ring gear 5 is driven clockwise at a second speed greater than the first speed, the vehicle 100 can be driven backward, and at the same time, the wheel 11 having the wheel hub 12, the shaft 10, and the support arms 13, 14 arranged thereon rotates counterclockwise around the longitudinal axis L2 of the driving and steering device 1 to set the steering angle of the wheel 11 in the first direction.

[0043] In contrast, if the first bevel ring gear 4 is driven counterclockwise at a first speed and the second bevel ring gear 5 is driven clockwise at a second speed lower than the first speed, the vehicle 100 can also be driven backward, and at the same time, the wheel 11 having the wheel hub 12, shaft 10, and support arms 13, 14 arranged thereon rotates clockwise about the longitudinal axis L2 of the drive and steering device 1 to set the steering angle of the wheel 11 in a second direction opposite to the first direction.

[0044] The coaxial arrangement of all components along the longitudinal axis L2 of the drive and steering device 1 allows for a space-saving drive and steering device 1, which allows for a relatively large ground clearance below the chassis 101. In addition, such a drive and steering device 1 allows for the wheels 11 to rotate through 360°, thereby allowing the vehicle 100 to be used for a variety of different applications.

[0045] It should be understood that the present invention is not limited to the embodiments described herein and has various alternative forms. For example, to facilitate or simplify the connection of the hollow shaft motors 2, 3 to the chassis 101, additional components may be advantageously located, for example, between the rotors 6, 7 and the associated bevel ring gears 4, 5. Alternatively or additionally, only a single support arm 13 or 14 may be provided, on which a wheel 11 having a wheel hub 12 is disposed. This may be advantageous when the load carried by the vehicle 100 is relatively small. [Explanation of symbols]

[0046] 1. Drive and steering gear 2. First hollow shaft motor 3 Second hollow shaft motor 4. First bevel ring gear 5 Second bevel ring gear 6 First rotor 7 Second rotor 8. First bevel pinion 9 Second bevel pinion 10 shaft 11 Wheels 12 Wheel hub 13 First support arm 14 Second support arm 15 Rotational Joint 16 Inner circumference of second hollow shaft motor 17 Bearing point of second hollow shaft motor 18 Mechanical power transmission device 19 First stator 20 Second stator 21 First chassis mounting plate 22 Second chassis mounting plate 23 Belt 24 First Arrow 25 Second Arrow 26 Third Arrow 100 vehicles 101 Chassis 102 Control device 103 Platform 104 Goods L1 Longitudinal axis of wheel hub L2 Longitudinal axis of drive and steering gear R1 First rotation direction R2 Second rotation direction R3 Third rotation direction R4 Fourth rotation direction

Claims

1. A drive and steering device (1) for a vehicle (100), comprising: a first hollow shaft motor (2) having a first bevel ring gear (4) that is at least indirectly rotationally fixed to a first rotor (6) of said first hollow shaft motor (2); a second hollow shaft motor (3) having a second bevel ring gear (5) that is at least indirectly rotationally fixed to a second rotor (7) of said second hollow shaft motor (3), the two bevel ring gears (4, 5) being arranged coaxially with respect to one another; a first bevel pinion (8) and a second bevel pinion (9), said bevel pinions (8, 9) being rotationally fixed to each other via a shaft (10) disposed therebetween, each of said bevel pinions (8, 9) meshing with both said first bevel ring gear (4) and said second bevel ring gear (5); a wheel (11) of said vehicle (100), arranged so as to be rotationally fixed on a wheel hub (12); at least one support arm (13, 14) on which the wheel hub (12) is rotatably arranged, the support arm (13, 14) being arranged on the shaft (10) via at least one rotary joint (15) and being radially supported on the second hollow shaft motor (3) via bearing points (17) arranged on the inner circumference (16) of the second hollow shaft motor (3); a mechanical power transmission device (18) drivingly arranged between said shaft (10) and said wheel hub (12) for driving said wheel hub (12) in rotation about its longitudinal axis (L1); The bevel ring gears (4, 5) can be rotationally driven by associated hollow shaft motors (2, 3) such that there is a rotational drive of the wheel hub (12) about its longitudinal axis (L1) and / or a pivoting of the wheel hub (12) about the longitudinal axis (L2) of the drive and steering device (1) in order to adjust the steering angle of the wheel (11) according to the relative rotational direction and relative rotational speed of the bevel ring gears (4, 5) with respect to each other.

2. 2. The drive and steering device (1) according to claim 1, characterized in that the wheel hub (12) is rotatably arranged on two support arms (13, 14) and the wheel (11) is arranged in the longitudinal direction of the wheel hub (12) between the two support arms (13, 14).

3. 3. The drive and steering device (1) according to claim 1 or 2, characterized in that the mechanical power transmission device (18) is a traction drive or a gear transmission.

4. 4. The drive and steering device (1) according to claim 1, wherein a first stator (19) of the first hollow shaft motor (2) is configured to be fastened to a chassis (101) of the vehicle (100) via a first chassis mounting plate (21).

5. 5. The drive and steering device (1) according to any one of claims 1 to 4, characterized in that the second stator (20) of the second hollow shaft motor (3) is configured to be fastened to the chassis (101) of the vehicle (100) via a second chassis mounting plate (22).

6. 6. The drive and steering device (1) according to claim 1, characterized in that the control device (102) is configured to control the hollow shaft motors (2, 3) so that the bevel ring gears (4, 5) are rotated in opposite rotational directions at the same rotational speed, whereby the wheel hub (12) rotates about its longitudinal axis (L1) in a first rotational direction (R1) or an opposite second rotational direction (R2).

7. 7. The drive and steering device (1) according to any one of claims 1 to 6, characterized in that the control device (102) is configured to control the hollow shaft motors (2, 3) so that the bevel ring gears (4, 5) rotate in the same rotational direction and at the same rotational speed, thereby causing the wheel hub (12) to pivot about the longitudinal axis (L2) of the drive and steering device (1) in a third rotational direction (R3) or an opposite fourth rotational direction (R4).

8. 8. The drive and steering device (1) according to any one of claims 1 to 7, characterized in that the control device (102) is configured to control the hollow shaft motors (2, 3) so that the bevel ring gears (4, 5) are rotated by the hollow shaft motors (2, 3) in opposite rotational directions and at different rotational speeds, whereby the wheel hub (12) rotates about its longitudinal axis (L1) in the first rotational direction (R1) or the second rotational direction (R2) and pivots about the longitudinal axis (L2) of the drive and steering device (1) in the third rotational direction (R3) or the fourth rotational direction (R4).

9. A vehicle (100) comprising at least one drive and steering device (1) according to any one of claims 1 to 8, wherein the at least one drive and steering device (1) is arranged and supported on a chassis (101) of the vehicle (100).

10. 10. A vehicle (100) according to claim 9, characterized in that it comprises a plurality of drive and steering devices (1) and a control device (102) configured to control the drive and steering devices (1) separately.

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